2.added step.js and cg_lean.js to the developer folder
3.added menu item for toggling the hips following between head and hips
4.added new function to return true if the root of MyAvatar is translating
to be under the head. Used to smooth the path of the hips
5.added computeCounterBalance to MyAvatar.h and cpp
6.added the menu item under developer/avatar to enable debug draw of the base of support in menu.h menu.cpp MyAvatar.h MyAvatar.cpp
7.added head yaw into the calculation of the hip rotation for the center
of gravity. This is already was happening in the deriveBodyFromHMD code
that is default
8.Changed Constants in Avatar constants for the base of support
9.fixed the over rotation of the shoulders
10.fixed scaling problem in cg computation
11.added room for going up on the toes without stretching
With the addition of the hips IK target, the hips offset shifting code is no longer necessary.
This PR should not effect any behavior, but it removes this unused code from the animation system.
Previously there was a hack where the sensor to world matrix was NOT updated in HMD mode if the camera was third person.
The reason the hack existed was to make third person camera less nauseating for users.
However this had a major drawbacks.
It led to avatar hip spasms when the user turned around in the tracked volume, while in third person camera.
To fix this issue properly, the hack which prevented updating the sensor to world matrix was removed, and now the third person camera is now computed in sensor space relative to the hmd.
Target is now estimated in sensor space from the head, which is very deterministic and not prone to feedback from the IK system.
Previous the hip was estimated from accumulated IK error deltas, which was not stable, as the error would tend to accumulate if the IK targets could not be reached.
